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At the very second I read this question I was on the with my mom who was watching my 3 year old and she was telling me she was giving him a time out for taking his underwear off and peed on the floor. i wish I had advice for you but I don't.> I don't know why the heck they do it , maybe a sense of freedom...

Maybe I'm a meany, but in addition to starting to train her, I would restrict her from sitting on your lap for a while, and only give her one chair in the house she can sit on till she stops the behavior. She's old enough to know what she's doing is wrong.